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<div class="title">person_classifier.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> * Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> * Copyright (c) 2013-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> * are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> * * Neither the name of the copyright holder(s) nor the names of its</span></div>
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<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> * &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
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<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * person_classifier.h</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * Created on: Nov 30, 2012</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> * Author: Matteo Munaro</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_PEOPLE_PERSON_CLASSIFIER_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_PEOPLE_PERSON_CLASSIFIER_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/people/person_cluster.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/people/hog.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keyword">namespace </span>people</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  {</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">class </span>PersonClassifier;</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_person_classifier.html">   54</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1people_1_1_person_classifier.html">PersonClassifier</a></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    {</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_person_classifier.html#a57c13bdc18ac04c16f33cc92440c4c7b">   59</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1people_1_1_person_classifier.html#a57c13bdc18ac04c16f33cc92440c4c7b">window_height_</a>;          </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      </div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_person_classifier.html#aa1823845ce620943d9ab792926fa7620">   62</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1people_1_1_person_classifier.html#aa1823845ce620943d9ab792926fa7620">window_width_</a>;          </div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      </div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_person_classifier.html#aa7f06274d92fff42d331f31dc6881517">   65</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1people_1_1_person_classifier.html#aa7f06274d92fff42d331f31dc6881517">SVM_offset_</a>;          </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      </div>
<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_person_classifier.html#a68470edc1493d115e2cc2e1f919c5954">   68</a></span>&#160;      std::vector&lt;float&gt; <a class="code" href="classpcl_1_1people_1_1_person_classifier.html#a68470edc1493d115e2cc2e1f919c5954">SVM_weights_</a>;  </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;PointCloud&gt; PointCloudPtr;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_person_classifier.html#a3fd9d9da25b0547c7355a8f342305aba">PersonClassifier</a> ();</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1people_1_1_person_classifier.html#a293c0b45df0f5dd9da367ac61015fccd">~PersonClassifier</a> ();</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_person_classifier.html#a5371f52612b91717ddb4dd7ec2192960">loadSVMFromFile</a> (std::string svm_filename);</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_person_classifier.html#a5d5ce133edd1017704724e4f7be617c7">setSVM</a> (<span class="keywordtype">int</span> window_height, <span class="keywordtype">int</span> window_width, std::vector&lt;float&gt; SVM_weights, <span class="keywordtype">float</span> SVM_offset);</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_person_classifier.html#a6fc7228c806fbcf34eed85676b737d53">getSVM</a> (<span class="keywordtype">int</span>&amp; window_height, <span class="keywordtype">int</span>&amp; window_width, std::vector&lt;float&gt;&amp; SVM_weights, <span class="keywordtype">float</span>&amp; SVM_offset);</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_person_classifier.html#ad28b1f631021433d3cbff384c3df279a">resize</a> (PointCloudPtr&amp; input_image, PointCloudPtr&amp; output_image,</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;              <span class="keywordtype">int</span> width, <span class="keywordtype">int</span> height);</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_person_classifier.html#a1e49db9561c732b03fe044290ccfea02">copyMakeBorder</a> (PointCloudPtr&amp; input_image, PointCloudPtr&amp; output_image,</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;          <span class="keywordtype">int</span> xmin, <span class="keywordtype">int</span> ymin, <span class="keywordtype">int</span> width, <span class="keywordtype">int</span> height);</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      <span class="keywordtype">double</span></div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_person_classifier.html#a4515d8e816f141408284bd25f74e916a">evaluate</a> (<span class="keywordtype">float</span> height, <span class="keywordtype">float</span> xc, <span class="keywordtype">float</span> yc, PointCloudPtr&amp; image);</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      <span class="keywordtype">double</span></div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_person_classifier.html#a4515d8e816f141408284bd25f74e916a">evaluate</a> (PointCloudPtr&amp; image, Eigen::Vector3f&amp; bottom, Eigen::Vector3f&amp; top, Eigen::Vector3f&amp; centroid,</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;         <span class="keywordtype">bool</span> vertical);</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    };</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  } <span class="comment">/* namespace people */</span></div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;} <span class="comment">/* namespace pcl */</span></div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;<span class="preprocessor">#include &lt;pcl/people/impl/person_classifier.hpp&gt;</span></div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_PEOPLE_PERSON_CLASSIFIER_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_classifier_html"><div class="ttname"><a href="classpcl_1_1people_1_1_person_classifier.html">pcl::people::PersonClassifier</a></div><div class="ttdef"><b>Definition:</b> person_classifier.h:55</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_classifier_html_a1e49db9561c732b03fe044290ccfea02"><div class="ttname"><a href="classpcl_1_1people_1_1_person_classifier.html#a1e49db9561c732b03fe044290ccfea02">pcl::people::PersonClassifier::copyMakeBorder</a></div><div class="ttdeci">void copyMakeBorder(PointCloudPtr &amp;input_image, PointCloudPtr &amp;output_image, int xmin, int ymin, int width, int height)</div><div class="ttdoc">Copies an image and makes a black border around it, where the source image is not present.</div><div class="ttdef"><b>Definition:</b> person_classifier.hpp:181</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_classifier_html_a293c0b45df0f5dd9da367ac61015fccd"><div class="ttname"><a href="classpcl_1_1people_1_1_person_classifier.html#a293c0b45df0f5dd9da367ac61015fccd">pcl::people::PersonClassifier::~PersonClassifier</a></div><div class="ttdeci">virtual ~PersonClassifier()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> person_classifier.hpp:50</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_classifier_html_a3fd9d9da25b0547c7355a8f342305aba"><div class="ttname"><a href="classpcl_1_1people_1_1_person_classifier.html#a3fd9d9da25b0547c7355a8f342305aba">pcl::people::PersonClassifier::PersonClassifier</a></div><div class="ttdeci">PersonClassifier()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> person_classifier.hpp:47</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_classifier_html_a4515d8e816f141408284bd25f74e916a"><div class="ttname"><a href="classpcl_1_1people_1_1_person_classifier.html#a4515d8e816f141408284bd25f74e916a">pcl::people::PersonClassifier::evaluate</a></div><div class="ttdeci">double evaluate(float height, float xc, float yc, PointCloudPtr &amp;image)</div><div class="ttdoc">Classify the given portion of image.</div><div class="ttdef"><b>Definition:</b> person_classifier.hpp:216</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_classifier_html_a5371f52612b91717ddb4dd7ec2192960"><div class="ttname"><a href="classpcl_1_1people_1_1_person_classifier.html#a5371f52612b91717ddb4dd7ec2192960">pcl::people::PersonClassifier::loadSVMFromFile</a></div><div class="ttdeci">bool loadSVMFromFile(std::string svm_filename)</div><div class="ttdoc">Load SVM parameters from a text file.</div><div class="ttdef"><b>Definition:</b> person_classifier.hpp:53</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_classifier_html_a57c13bdc18ac04c16f33cc92440c4c7b"><div class="ttname"><a href="classpcl_1_1people_1_1_person_classifier.html#a57c13bdc18ac04c16f33cc92440c4c7b">pcl::people::PersonClassifier::window_height_</a></div><div class="ttdeci">int window_height_</div><div class="ttdoc">Height of the image patch to classify.</div><div class="ttdef"><b>Definition:</b> person_classifier.h:59</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_classifier_html_a5d5ce133edd1017704724e4f7be617c7"><div class="ttname"><a href="classpcl_1_1people_1_1_person_classifier.html#a5d5ce133edd1017704724e4f7be617c7">pcl::people::PersonClassifier::setSVM</a></div><div class="ttdeci">void setSVM(int window_height, int window_width, std::vector&lt; float &gt; SVM_weights, float SVM_offset)</div><div class="ttdoc">Set trained SVM for person confidence estimation.</div><div class="ttdef"><b>Definition:</b> person_classifier.hpp:95</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_classifier_html_a68470edc1493d115e2cc2e1f919c5954"><div class="ttname"><a href="classpcl_1_1people_1_1_person_classifier.html#a68470edc1493d115e2cc2e1f919c5954">pcl::people::PersonClassifier::SVM_weights_</a></div><div class="ttdeci">std::vector&lt; float &gt; SVM_weights_</div><div class="ttdoc">SVM weights vector.</div><div class="ttdef"><b>Definition:</b> person_classifier.h:68</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_classifier_html_a6fc7228c806fbcf34eed85676b737d53"><div class="ttname"><a href="classpcl_1_1people_1_1_person_classifier.html#a6fc7228c806fbcf34eed85676b737d53">pcl::people::PersonClassifier::getSVM</a></div><div class="ttdeci">void getSVM(int &amp;window_height, int &amp;window_width, std::vector&lt; float &gt; &amp;SVM_weights, float &amp;SVM_offset)</div><div class="ttdoc">Get trained SVM for person confidence estimation.</div><div class="ttdef"><b>Definition:</b> person_classifier.hpp:104</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_classifier_html_aa1823845ce620943d9ab792926fa7620"><div class="ttname"><a href="classpcl_1_1people_1_1_person_classifier.html#aa1823845ce620943d9ab792926fa7620">pcl::people::PersonClassifier::window_width_</a></div><div class="ttdeci">int window_width_</div><div class="ttdoc">Width of the image patch to classify.</div><div class="ttdef"><b>Definition:</b> person_classifier.h:62</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_classifier_html_aa7f06274d92fff42d331f31dc6881517"><div class="ttname"><a href="classpcl_1_1people_1_1_person_classifier.html#aa7f06274d92fff42d331f31dc6881517">pcl::people::PersonClassifier::SVM_offset_</a></div><div class="ttdeci">float SVM_offset_</div><div class="ttdoc">SVM offset.</div><div class="ttdef"><b>Definition:</b> person_classifier.h:65</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_classifier_html_ad28b1f631021433d3cbff384c3df279a"><div class="ttname"><a href="classpcl_1_1people_1_1_person_classifier.html#ad28b1f631021433d3cbff384c3df279a">pcl::people::PersonClassifier::resize</a></div><div class="ttdeci">void resize(PointCloudPtr &amp;input_image, PointCloudPtr &amp;output_image, int width, int height)</div><div class="ttdoc">Resize an image represented by a pointcloud containing RGB information.</div><div class="ttdef"><b>Definition:</b> person_classifier.hpp:113</div></div>
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